The invention provides a paver auxiliary driving path tracking method, system and device and a paver. The paver auxiliary driving path tracking method comprises the steps that road edge information is obtained through a sensor, and the width of an ironing plate is obtained; acquiring road edge original coordinate information under a sensor coordinate system according to the road edge information; obtaining a target path under a sensor coordinate system according to the original coordinate information of the road edge and the width of the screed; performing coordinate transformation on the target path under the sensor coordinate system to obtain a target path under a vehicle body coordinate system; and performing path tracking on the target path under the vehicle body coordinate system based on the geometric model and the center running speed of the paver to obtain the running speed of the left running mechanism and the running speed of the right running mechanism, and controlling the running of the paver according to the running speed of the left running mechanism and the running speed of the right running mechanism. According to the technical scheme, the path tracking point of the paver is obtained according to the local positioning information of the sensor, and real-time path planning is realized.

    本申请提供了一种摊铺机辅助驾驶路径跟踪方法及系统、装置、摊铺机,摊铺机辅助驾驶路径跟踪方法包括:通过传感器获取路沿信息,并获取熨平板宽度;根据路沿信息获取传感器坐标系下的路沿原始坐标信息;根据路沿原始坐标信息和熨平板宽度得到传感器坐标系下的目标路径;对传感器坐标系下的目标路径进行坐标变换,得到车体坐标系下的目标路径;基于几何模型和摊铺机中心行驶速度对车体坐标系下的目标路径进行路径跟踪,得到左行驶机构行驶速度和右行驶机构行驶速度,并根据左行驶机构行驶速度和右行驶机构行驶速度控制摊铺机行驶。通过本申请的技术方案,根据传感器局部定位信息,得到摊铺机路径跟踪点,实现实时路径规划。


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    Title :

    Paver auxiliary driving path tracking method, system and device and paver


    Additional title:

    摊铺机辅助驾驶路径跟踪方法及系统、装置、摊铺机


    Contributors:
    GAO BIAO (author) / ZHONG HUIPING (author) / HUANG ZICHAO (author)

    Publication date :

    2024-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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